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triangle_mesh.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2012, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
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* disclaimer in the documentation and/or other materials provided
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* from this software without specific prior written permission.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* $Id$
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#pragma once
#include <pcl/geometry/mesh_base.h>
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <utility>
namespace pcl {
namespace geometry {
/** \brief Tag describing the type of the mesh. */
struct TriangleMeshTag {};
/** \brief Half-edge mesh that can only store triangles.
* \tparam MeshTraitsT Please have a look at pcl::geometry::DefaultMeshTraits.
* \author Martin Saelzle
* \ingroup geometry
*/
template <class MeshTraitsT>
class TriangleMesh : public pcl::geometry::MeshBase<TriangleMesh<MeshTraitsT>,
MeshTraitsT,
TriangleMeshTag> {
public:
using Base =
pcl::geometry::MeshBase<TriangleMesh<MeshTraitsT>, MeshTraitsT, TriangleMeshTag>;
using Self = TriangleMesh<MeshTraitsT>;
using Ptr = shared_ptr<Self>;
using ConstPtr = shared_ptr<const Self>;
using VertexData = typename Base::VertexData;
using HalfEdgeData = typename Base::HalfEdgeData;
using EdgeData = typename Base::EdgeData;
using FaceData = typename Base::FaceData;
using IsManifold = typename Base::IsManifold;
using MeshTag = typename Base::MeshTag;
using HasVertexData = typename Base::HasVertexData;
using HasHalfEdgeData = typename Base::HasHalfEdgeData;
using HasEdgeData = typename Base::HasEdgeData;
using HasFaceData = typename Base::HasFaceData;
using VertexDataCloud = typename Base::VertexDataCloud;
using HalfEdgeDataCloud = typename Base::HalfEdgeDataCloud;
using EdgeDataCloud = typename Base::EdgeDataCloud;
using FaceDataCloud = typename Base::FaceDataCloud;
// Indices
using VertexIndex = typename Base::VertexIndex;
using HalfEdgeIndex = typename Base::HalfEdgeIndex;
using EdgeIndex = typename Base::EdgeIndex;
using FaceIndex = typename Base::FaceIndex;
using FaceIndexPair = std::pair<FaceIndex, FaceIndex>;
using VertexIndices = typename Base::VertexIndices;
using HalfEdgeIndices = typename Base::HalfEdgeIndices;
using EdgeIndices = typename Base::EdgeIndices;
using FaceIndices = typename Base::FaceIndices;
// Circulators
using VertexAroundVertexCirculator = typename Base::VertexAroundVertexCirculator;
using OutgoingHalfEdgeAroundVertexCirculator =
typename Base::OutgoingHalfEdgeAroundVertexCirculator;
using IncomingHalfEdgeAroundVertexCirculator =
typename Base::IncomingHalfEdgeAroundVertexCirculator;
using FaceAroundVertexCirculator = typename Base::FaceAroundVertexCirculator;
using VertexAroundFaceCirculator = typename Base::VertexAroundFaceCirculator;
using InnerHalfEdgeAroundFaceCirculator =
typename Base::InnerHalfEdgeAroundFaceCirculator;
using OuterHalfEdgeAroundFaceCirculator =
typename Base::OuterHalfEdgeAroundFaceCirculator;
using FaceAroundFaceCirculator = typename Base::FaceAroundFaceCirculator;
/** \brief Constructor. */
TriangleMesh() : Base(), add_triangle_(3), inner_he_atp_(4), is_new_atp_(4) {}
/** \brief The base method of addFace is hidden because of the overloads in this
* class. */
using Base::addFace;
/** \brief Add a triangle to the mesh. Data is only added if it is associated with the
* elements. The last vertex is connected with the first one.
* \param[in] idx_v_0 Index to the first vertex.
* \param[in] idx_v_1 Index to the second vertex.
* \param[in] idx_v_2 Index to the third vertex.
* \param[in] face_data Data that is set for the face.
* \param[in] half_edge_data Data that is set for all added half-edges.
* \param[in] edge_data Data that is set for all added edges.
* \return Index to the new face. Failure is signaled by returning an invalid face
* index.
* \warning The vertices must be valid and unique (each vertex may be contained
* only once). Not complying with this requirement results in undefined behavior!
*/
inline FaceIndex
addFace(const VertexIndex& idx_v_0,
const VertexIndex& idx_v_1,
const VertexIndex& idx_v_2,
const FaceData& face_data = FaceData(),
const EdgeData& edge_data = EdgeData(),
const HalfEdgeData& half_edge_data = HalfEdgeData())
{
add_triangle_[0] = idx_v_0;
add_triangle_[1] = idx_v_1;
add_triangle_[2] = idx_v_2;
return (this->addFaceImplBase(add_triangle_, face_data, edge_data, half_edge_data));
}
/** \brief Add two triangles for the four given input vertices. When using a manifold
* triangle mesh it is not possible to connect two bounded regions without going
* through a non-manifold intermediate step. This method first tries to add the
* triangles individually and if this fails connects the whole configuration at once
* (if possible).
* \param[in] vertices Indices to the vertices of the new face. (The size
* must be equal to four).
* \param[in] face_data Data that is set for the face.
* \param[in] half_edge_data Data that is set for all added half-edges.
* \param[in] edge_data Data that is set for all added edges.
* \return Pair of face indices. The first index is valid if one triangle was added.
* Both indices are valid if two triangles were added.
* \warning The vertices must be valid and unique (each vertex may be contained only
* once). Not complying with this requirement results in undefined behavior!
*/
FaceIndexPair
addTrianglePair(const VertexIndices& vertices,
const FaceData& face_data = FaceData(),
const EdgeData& edge_data = EdgeData(),
const HalfEdgeData& half_edge_data = HalfEdgeData())
{
if (vertices.size() != 4) {
return (std::make_pair(FaceIndex(), FaceIndex()));
}
return (this->addTrianglePair(vertices[0],
vertices[1],
vertices[2],
vertices[3],
face_data,
edge_data,
half_edge_data));
}
/** \brief Add two triangles for the four given input vertices. When using a manifold
* triangle mesh it is not possible to connect two bounded regions without going
* through a non-manifold intermediate step. This method first tries to add the
* triangles individually and if this fails connects the whole configuration at once
* (if possible).
* \param[in] idx_v_0 Index to the first vertex.
* \param[in] idx_v_1 Index to the second vertex.
* \param[in] idx_v_2 Index to the third vertex.
* \param[in] idx_v_3 Index to the fourth vertex.
* \param[in] face_data Data that is set for the face.
* \param[in] half_edge_data Data that is set for all added half-edges.
* \param[in] edge_data Data that is set for all added edges.
* \return Pair of face indices. The first index is valid if one triangle was added.
* Both indices are valid if two triangles were added.
* \warning The vertices must be valid and unique (each vertex may be contained only
* once). Not complying with this requirement results in undefined behavior!
*/
inline FaceIndexPair
addTrianglePair(const VertexIndex& idx_v_0,
const VertexIndex& idx_v_1,
const VertexIndex& idx_v_2,
const VertexIndex& idx_v_3,
const FaceData& face_data = FaceData(),
const EdgeData& edge_data = EdgeData(),
const HalfEdgeData& half_edge_data = HalfEdgeData())
{
// Try to add two faces
// 3 - 2
// | / |
// 0 - 1
FaceIndex idx_face_0 = this->addFace(idx_v_0, idx_v_1, idx_v_2, face_data);
FaceIndex idx_face_1 = this->addFace(idx_v_0, idx_v_2, idx_v_3, face_data);
if (idx_face_0.isValid()) {
return (std::make_pair(idx_face_0, idx_face_1));
}
if (idx_face_1.isValid()) {
idx_face_0 = this->addFace(
idx_v_0, idx_v_1, idx_v_2, face_data); // might be possible to add now
return (std::make_pair(idx_face_1, idx_face_0));
}
// Try to add two faces
// 3 - 2
// | \ |
// 0 - 1
idx_face_0 = this->addFace(idx_v_1, idx_v_2, idx_v_3, face_data);
idx_face_1 = this->addFace(idx_v_0, idx_v_1, idx_v_3, face_data);
if (idx_face_0.isValid()) {
return (std::make_pair(idx_face_0, idx_face_1));
}
if (idx_face_1.isValid()) {
idx_face_0 = this->addFace(
idx_v_1, idx_v_2, idx_v_3, face_data); // might be possible to add now
return (std::make_pair(idx_face_1, idx_face_0));
}
if (!IsManifold::value) {
return (std::make_pair(FaceIndex(), FaceIndex()));
}
// Check manifoldness
if (!Base::checkTopology1(
idx_v_0, idx_v_1, inner_he_atp_[0], is_new_atp_[0], IsManifold()) ||
!Base::checkTopology1(
idx_v_1, idx_v_2, inner_he_atp_[1], is_new_atp_[1], IsManifold()) ||
!Base::checkTopology1(
idx_v_2, idx_v_3, inner_he_atp_[2], is_new_atp_[2], IsManifold()) ||
!Base::checkTopology1(
idx_v_3, idx_v_0, inner_he_atp_[3], is_new_atp_[3], IsManifold())) {
return (std::make_pair(FaceIndex(), FaceIndex()));
}
// Connect the triangle pair
if (!is_new_atp_[0] && is_new_atp_[1] && !is_new_atp_[2] && is_new_atp_[3]) {
return (this->connectTrianglePair(inner_he_atp_[0],
inner_he_atp_[2],
idx_v_0,
idx_v_1,
idx_v_2,
idx_v_3,
face_data,
edge_data,
half_edge_data));
}
if (is_new_atp_[0] && !is_new_atp_[1] && is_new_atp_[2] && !is_new_atp_[3]) {
return (this->connectTrianglePair(inner_he_atp_[1],
inner_he_atp_[3],
idx_v_1,
idx_v_2,
idx_v_3,
idx_v_0,
face_data,
edge_data,
half_edge_data));
}
return (std::make_pair(FaceIndex(), FaceIndex()));
}
private:
// NOTE: Can't use the typedef of Base as a friend.
friend class pcl::geometry::
MeshBase<TriangleMesh<MeshTraitsT>, MeshTraitsT, pcl::geometry::TriangleMeshTag>;
/** \brief addFace for the triangular mesh. */
inline FaceIndex
addFaceImpl(const VertexIndices& vertices,
const FaceData& face_data,
const EdgeData& edge_data,
const HalfEdgeData& half_edge_data)
{
if (vertices.size() == 3)
return (this->addFaceImplBase(vertices, face_data, edge_data, half_edge_data));
return (FaceIndex());
}
/** \brief Connect the triangles a-b-c and a-c-d. The edges a-b and c-d must be old
* and the edges b-c and d-a must be new. */
// d - c
// | / |
// a - b
FaceIndexPair
connectTrianglePair(const HalfEdgeIndex& idx_he_ab,
const HalfEdgeIndex& idx_he_cd,
const VertexIndex& idx_v_a,
const VertexIndex& idx_v_b,
const VertexIndex& idx_v_c,
const VertexIndex& idx_v_d,
const FaceData& face_data,
const EdgeData& edge_data,
const HalfEdgeData& he_data)
{
// Add new half-edges
const HalfEdgeIndex idx_he_bc = Base::addEdge(idx_v_b, idx_v_c, he_data, edge_data);
const HalfEdgeIndex idx_he_da = Base::addEdge(idx_v_d, idx_v_a, he_data, edge_data);
const HalfEdgeIndex idx_he_ca = Base::addEdge(idx_v_c, idx_v_a, he_data, edge_data);
const HalfEdgeIndex idx_he_cb = Base::getOppositeHalfEdgeIndex(idx_he_bc);
const HalfEdgeIndex idx_he_ad = Base::getOppositeHalfEdgeIndex(idx_he_da);
const HalfEdgeIndex idx_he_ac = Base::getOppositeHalfEdgeIndex(idx_he_ca);
// Get the existing half-edges
const HalfEdgeIndex idx_he_ab_prev =
Base::getPrevHalfEdgeIndex(idx_he_ab); // No reference!
const HalfEdgeIndex idx_he_ab_next =
Base::getNextHalfEdgeIndex(idx_he_ab); // No reference!
const HalfEdgeIndex idx_he_cd_prev =
Base::getPrevHalfEdgeIndex(idx_he_cd); // No reference!
const HalfEdgeIndex idx_he_cd_next =
Base::getNextHalfEdgeIndex(idx_he_cd); // No reference!
// Connect the outer half-edges
Base::connectPrevNext(idx_he_ab_prev, idx_he_ad);
Base::connectPrevNext(idx_he_ad, idx_he_cd_next);
Base::connectPrevNext(idx_he_cd_prev, idx_he_cb);
Base::connectPrevNext(idx_he_cb, idx_he_ab_next);
// Connect the inner half-edges
Base::connectPrevNext(idx_he_ab, idx_he_bc);
Base::connectPrevNext(idx_he_bc, idx_he_ca);
Base::connectPrevNext(idx_he_ca, idx_he_ab);
Base::connectPrevNext(idx_he_ac, idx_he_cd);
Base::connectPrevNext(idx_he_cd, idx_he_da);
Base::connectPrevNext(idx_he_da, idx_he_ac);
// Connect the vertices to the boundary half-edges
Base::setOutgoingHalfEdgeIndex(idx_v_a, idx_he_ad);
Base::setOutgoingHalfEdgeIndex(idx_v_b, idx_he_ab_next);
Base::setOutgoingHalfEdgeIndex(idx_v_c, idx_he_cb);
Base::setOutgoingHalfEdgeIndex(idx_v_d, idx_he_cd_next);
// Add and connect the faces
HalfEdgeIndices inner_he_abc;
inner_he_abc.reserve(3);
inner_he_abc.push_back(idx_he_ab);
inner_he_abc.push_back(idx_he_bc);
inner_he_abc.push_back(idx_he_ca);
HalfEdgeIndices inner_he_acd;
inner_he_acd.reserve(3);
inner_he_acd.push_back(idx_he_ac);
inner_he_acd.push_back(idx_he_cd);
inner_he_acd.push_back(idx_he_da);
const FaceIndex idx_f_abc = Base::connectFace(inner_he_abc, face_data);
const FaceIndex idx_f_acd = Base::connectFace(inner_he_acd, face_data);
return (std::make_pair(idx_f_abc, idx_f_acd));
}
////////////////////////////////////////////////////////////////////////
// Members
////////////////////////////////////////////////////////////////////////
/** \brief Storage for adding a triangle. */
VertexIndices add_triangle_;
/** \brief Storage for addTrianglePair. */
HalfEdgeIndices inner_he_atp_;
/** \brief Storage for addTrianglePair. */
std::vector<bool> is_new_atp_;
public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace geometry
} // End namespace pcl
pcl::geometry::MeshBase
Base class for the half-edge mesh.
Definition mesh_base.h:96
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::HasFaceData
std::integral_constant< bool, !std::is_same< FaceData, pcl::geometry::NoData >::value > HasFaceData
Definition mesh_base.h:127
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::EdgeIndices
std::vector< EdgeIndex > EdgeIndices
Definition mesh_base.h:144
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::HasEdgeData
std::integral_constant< bool, !std::is_same< EdgeData, pcl::geometry::NoData >::value > HasEdgeData
Definition mesh_base.h:124
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::checkTopology1
bool checkTopology1(const VertexIndex &idx_v_a, const VertexIndex &idx_v_b, HalfEdgeIndex &idx_he_ab, std::vector< bool >::reference is_new_ab, std::true_type) const
Definition mesh_base.h:1274
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::FaceIndex
pcl::geometry::FaceIndex FaceIndex
Definition mesh_base.h:140
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::EdgeData
typename MeshTraitsT::EdgeData EdgeData
Definition mesh_base.h:107
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::FaceIndices
std::vector< FaceIndex > FaceIndices
Definition mesh_base.h:145
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::HalfEdgeData
typename MeshTraitsT::HalfEdgeData HalfEdgeData
Definition mesh_base.h:106
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::VertexDataCloud
pcl::PointCloud< VertexData > VertexDataCloud
Definition mesh_base.h:131
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::FaceAroundFaceCirculator
pcl::geometry::FaceAroundFaceCirculator< const Self > FaceAroundFaceCirculator
Definition mesh_base.h:162
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::addFaceImplBase
FaceIndex addFaceImplBase(const VertexIndices &vertices, const FaceData &face_data, const EdgeData &edge_data, const HalfEdgeData &half_edge_data)
Definition mesh_base.h:1162
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::VertexData
typename MeshTraitsT::VertexData VertexData
Definition mesh_base.h:105
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::HalfEdgeIndices
std::vector< HalfEdgeIndex > HalfEdgeIndices
Definition mesh_base.h:143
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::FaceDataCloud
pcl::PointCloud< FaceData > FaceDataCloud
Definition mesh_base.h:134
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::VertexIndex
pcl::geometry::VertexIndex VertexIndex
Definition mesh_base.h:137
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::addFace
FaceIndex addFace(const VertexIndices &vertices, const FaceData &face_data=FaceData(), const EdgeData &edge_data=EdgeData(), const HalfEdgeData &half_edge_data=HalfEdgeData())
Definition mesh_base.h:203
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::FaceAroundVertexCirculator
pcl::geometry::FaceAroundVertexCirculator< const Self > FaceAroundVertexCirculator
Definition mesh_base.h:154
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::InnerHalfEdgeAroundFaceCirculator
pcl::geometry::InnerHalfEdgeAroundFaceCirculator< const Self > InnerHalfEdgeAroundFaceCirculator
Definition mesh_base.h:158
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::HasVertexData
std::integral_constant< bool, !std::is_same< VertexData, pcl::geometry::NoData >::value > HasVertexData
Definition mesh_base.h:118
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::IncomingHalfEdgeAroundVertexCirculator
pcl::geometry::IncomingHalfEdgeAroundVertexCirculator< const Self > IncomingHalfEdgeAroundVertexCirculator
Definition mesh_base.h:152
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::IsManifold
typename MeshTraitsT::IsManifold IsManifold
Definition mesh_base.h:109
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::HalfEdgeDataCloud
pcl::PointCloud< HalfEdgeData > HalfEdgeDataCloud
Definition mesh_base.h:132
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::FaceData
typename MeshTraitsT::FaceData FaceData
Definition mesh_base.h:108
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::OutgoingHalfEdgeAroundVertexCirculator
pcl::geometry::OutgoingHalfEdgeAroundVertexCirculator< const Self > OutgoingHalfEdgeAroundVertexCirculator
Definition mesh_base.h:150
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::VertexIndices
std::vector< VertexIndex > VertexIndices
Definition mesh_base.h:142
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::EdgeIndex
pcl::geometry::EdgeIndex EdgeIndex
Definition mesh_base.h:139
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::VertexAroundVertexCirculator
pcl::geometry::VertexAroundVertexCirculator< const Self > VertexAroundVertexCirculator
Definition mesh_base.h:148
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::VertexAroundFaceCirculator
pcl::geometry::VertexAroundFaceCirculator< const Self > VertexAroundFaceCirculator
Definition mesh_base.h:156
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::OuterHalfEdgeAroundFaceCirculator
pcl::geometry::OuterHalfEdgeAroundFaceCirculator< const Self > OuterHalfEdgeAroundFaceCirculator
Definition mesh_base.h:160
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::MeshTag
TriangleMeshTag MeshTag
Definition mesh_base.h:115
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::HalfEdgeIndex
pcl::geometry::HalfEdgeIndex HalfEdgeIndex
Definition mesh_base.h:138
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::EdgeDataCloud
pcl::PointCloud< EdgeData > EdgeDataCloud
Definition mesh_base.h:133
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag >::HasHalfEdgeData
std::integral_constant< bool, !std::is_same< HalfEdgeData, pcl::geometry::NoData >::value > HasHalfEdgeData
Definition mesh_base.h:121
pcl::geometry::TriangleMesh::EdgeData
typename Base::EdgeData EdgeData
Definition triangle_mesh.h:73
pcl::geometry::TriangleMesh::Self
TriangleMesh< MeshTraitsT > Self
Definition triangle_mesh.h:67
pcl::geometry::TriangleMesh::OuterHalfEdgeAroundFaceCirculator
typename Base::OuterHalfEdgeAroundFaceCirculator OuterHalfEdgeAroundFaceCirculator
Definition triangle_mesh.h:110
pcl::geometry::TriangleMesh::HalfEdgeDataCloud
typename Base::HalfEdgeDataCloud HalfEdgeDataCloud
Definition triangle_mesh.h:84
pcl::geometry::TriangleMesh::ConstPtr
shared_ptr< const Self > ConstPtr
Definition triangle_mesh.h:69
pcl::geometry::TriangleMesh::VertexDataCloud
typename Base::VertexDataCloud VertexDataCloud
Definition triangle_mesh.h:83
pcl::geometry::TriangleMesh::addFace
FaceIndex addFace(const VertexIndex &idx_v_0, const VertexIndex &idx_v_1, const VertexIndex &idx_v_2, const FaceData &face_data=FaceData(), const EdgeData &edge_data=EdgeData(), const HalfEdgeData &half_edge_data=HalfEdgeData())
Add a triangle to the mesh.
Definition triangle_mesh.h:135
pcl::geometry::TriangleMesh::Base
pcl::geometry::MeshBase< TriangleMesh< MeshTraitsT >, MeshTraitsT, TriangleMeshTag > Base
Definition triangle_mesh.h:64
pcl::geometry::TriangleMesh::OutgoingHalfEdgeAroundVertexCirculator
typename Base::OutgoingHalfEdgeAroundVertexCirculator OutgoingHalfEdgeAroundVertexCirculator
Definition triangle_mesh.h:102
pcl::geometry::TriangleMesh::HasFaceData
typename Base::HasFaceData HasFaceData
Definition triangle_mesh.h:81
pcl::geometry::TriangleMesh::addTrianglePair
FaceIndexPair addTrianglePair(const VertexIndices &vertices, const FaceData &face_data=FaceData(), const EdgeData &edge_data=EdgeData(), const HalfEdgeData &half_edge_data=HalfEdgeData())
Add two triangles for the four given input vertices.
Definition triangle_mesh.h:165
pcl::geometry::TriangleMesh::MeshTag
typename Base::MeshTag MeshTag
Definition triangle_mesh.h:76
pcl::geometry::TriangleMesh::VertexData
typename Base::VertexData VertexData
Definition triangle_mesh.h:71
pcl::geometry::TriangleMesh::VertexAroundVertexCirculator
typename Base::VertexAroundVertexCirculator VertexAroundVertexCirculator
Definition triangle_mesh.h:101
pcl::geometry::TriangleMesh::VertexAroundFaceCirculator
typename Base::VertexAroundFaceCirculator VertexAroundFaceCirculator
Definition triangle_mesh.h:107
pcl::geometry::TriangleMesh::Ptr
shared_ptr< Self > Ptr
Definition triangle_mesh.h:68
pcl::geometry::TriangleMesh::EdgeIndex
typename Base::EdgeIndex EdgeIndex
Definition triangle_mesh.h:91
pcl::geometry::TriangleMesh::HalfEdgeData
typename Base::HalfEdgeData HalfEdgeData
Definition triangle_mesh.h:72
pcl::geometry::TriangleMesh::IsManifold
typename Base::IsManifold IsManifold
Definition triangle_mesh.h:75
pcl::geometry::TriangleMesh::IncomingHalfEdgeAroundVertexCirculator
typename Base::IncomingHalfEdgeAroundVertexCirculator IncomingHalfEdgeAroundVertexCirculator
Definition triangle_mesh.h:104
pcl::geometry::TriangleMesh::HasVertexData
typename Base::HasVertexData HasVertexData
Definition triangle_mesh.h:78
pcl::geometry::TriangleMesh::addTrianglePair
FaceIndexPair addTrianglePair(const VertexIndex &idx_v_0, const VertexIndex &idx_v_1, const VertexIndex &idx_v_2, const VertexIndex &idx_v_3, const FaceData &face_data=FaceData(), const EdgeData &edge_data=EdgeData(), const HalfEdgeData &half_edge_data=HalfEdgeData())
Add two triangles for the four given input vertices.
Definition triangle_mesh.h:200
pcl::geometry::TriangleMesh::FaceAroundVertexCirculator
typename Base::FaceAroundVertexCirculator FaceAroundVertexCirculator
Definition triangle_mesh.h:106
pcl::geometry::TriangleMesh::EdgeDataCloud
typename Base::EdgeDataCloud EdgeDataCloud
Definition triangle_mesh.h:85
pcl::geometry::TriangleMesh::FaceIndices
typename Base::FaceIndices FaceIndices
Definition triangle_mesh.h:98
pcl::geometry::TriangleMesh::HalfEdgeIndices
typename Base::HalfEdgeIndices HalfEdgeIndices
Definition triangle_mesh.h:96
pcl::geometry::TriangleMesh::FaceIndexPair
std::pair< FaceIndex, FaceIndex > FaceIndexPair
Definition triangle_mesh.h:93
pcl::geometry::TriangleMesh::EdgeIndices
typename Base::EdgeIndices EdgeIndices
Definition triangle_mesh.h:97
pcl::geometry::TriangleMesh::HalfEdgeIndex
typename Base::HalfEdgeIndex HalfEdgeIndex
Definition triangle_mesh.h:90
pcl::geometry::TriangleMesh::FaceDataCloud
typename Base::FaceDataCloud FaceDataCloud
Definition triangle_mesh.h:86
pcl::geometry::TriangleMesh::FaceAroundFaceCirculator
typename Base::FaceAroundFaceCirculator FaceAroundFaceCirculator
Definition triangle_mesh.h:112
pcl::geometry::TriangleMesh::HasHalfEdgeData
typename Base::HasHalfEdgeData HasHalfEdgeData
Definition triangle_mesh.h:79
pcl::geometry::TriangleMesh::VertexIndex
typename Base::VertexIndex VertexIndex
Definition triangle_mesh.h:89
pcl::geometry::TriangleMesh::InnerHalfEdgeAroundFaceCirculator
typename Base::InnerHalfEdgeAroundFaceCirculator InnerHalfEdgeAroundFaceCirculator
Definition triangle_mesh.h:108
pcl::geometry::TriangleMesh::HasEdgeData
typename Base::HasEdgeData HasEdgeData
Definition triangle_mesh.h:80
pcl::geometry::TriangleMesh::FaceIndex
typename Base::FaceIndex FaceIndex
Definition triangle_mesh.h:92
pcl::geometry::TriangleMesh::TriangleMesh
TriangleMesh()
Constructor.
Definition triangle_mesh.h:115
pcl::geometry::TriangleMesh::VertexIndices
typename Base::VertexIndices VertexIndices
Definition triangle_mesh.h:95
pcl::geometry::TriangleMesh::FaceData
typename Base::FaceData FaceData
Definition triangle_mesh.h:74
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:86
pcl::geometry::FaceIndex
pcl::detail::MeshIndex< struct FaceIndexTag > FaceIndex
Index used to access elements in the half-edge mesh.
Definition mesh_indices.h:211
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl::geometry
Definition geometry.h:57
pcl
Definition convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl::geometry::TriangleMeshTag
Tag describing the type of the mesh.
Definition triangle_mesh.h:52